Abstract
Due to the principle error caused by the Earth’s sphere model in transverse polar navigation, the ellipsoid model is usually used for transverse transformation. In order to avoid the complex transverse transformation of the ellipsoid model, a virtual sphere model, which can simplify the transformation of the ellipsoid model, is constructed in this paper. With the requirements of high accuracy and long-time navigation for AUV in the polar region, the integrated navigation scheme of SINS/DVL, which is based on the virtual sphere model, is proposed. The proposed method can improve the navigation accuracy and suppress the oscillation error. The error equations of transverse SINS are established based on the virtual sphere model. Then, the transverse SINS/DVL integrated navigation algorithm is derived according to the new error equations. The simulation results show that the navigation accuracy of the proposed method is equivalent with the traditional ellipsoid model method and is better than that of the traditional sphere model method. However, the complexity of the proposed method is simpler than the traditional ellipsoid model method. Moreover, it is verified that the navigation accuracy of SINS/DVL integrated navigation system based on the virtual sphere model meets the requirements of AUV.
Highlights
In recent years, both scientific research and seafaring application have been carried out in the polar region, which requires the safety and reliability, and navigation technology is an important information for polar region exploration
Due to the importance of the polar region, the navigation application for AUV has become a hot topic of research in recent years [1,2,3]. erefore, ensuring the navigation performance whether in or going to the poles is of great strategic significance
Transverse navigation method was proposed by MIT [4]. e sphere model is usually applied to the traditional transverse navigation method, which can bring advantages of briefness [5, 6]
Summary
Both scientific research and seafaring application have been carried out in the polar region, which requires the safety and reliability, and navigation technology is an important information for polar region exploration. In [17], the transverse integrated polar navigation of SINS/DVL based on the traditional sphere model is proposed. According to the basic equation of virtual sphere model, the corresponding transverse error equation is derived, and the Kalman filter model of transverse SINS/ DVL integrated navigation system based on the virtual sphere model is deduced in detail in this paper. The accuracy of the proposed transverse SINS/DVL integrated navigation method based on the virtual sphere model is better than that of the traditional sphere model method and is similar to that of the ellipsoid model method, which can meet the needs of polar navigation. Nt zet ye yet xe Figure 1: Transversal coordinate system
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